Maintenance of way autonomous machine operation

ABSTRACT

A control system and method for a machine is disclosed. The control system may comprise a machine controller configured to activate autonomous remote operation of the machine based on parameters. The parameters may include a range, a set-point and an obstruction status, wherein the range is a distance from the machine to an operator.

TECHNICAL FIELD

The present disclosure generally relates to a railway maintenancemachines, and more particularly, to controlling operations of anautonomous maintenance of way machine such as a double broom machine forrailway maintenance.

BACKGROUND

A railway track requires routine maintenance to remain in good workingorder. Maintenance of the railway track is commonly performed by avariety of specialized maintenance of way machines that operate whiletraveling along the length of the railway track. Examples of such amaintenance of way machines include broom machines, ballast regulators,sand and snow removers, shoulder cleaners, and the like. For example,maintenance of way operations performed by machines traveling along thelength of the railway track may include sweeping the railway track.

U.S. Pat. No. 8,989,972 discloses a method and apparatus for controllingmovement of a vehicle. Movement of an operator located at a side of thevehicle is identified with a plurality of sensors located in the vehicleand the vehicle is moved in a path that maintains the operator at theside of the vehicle while the operator is moving. While beneficial, abetter system is needed.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a control system for a machineis disclosed. The control system may comprise a machine controller. Themachine controller may be configured to: activate autonomous remoteoperation of the machine based on parameters, the parameters including arange, a set-point and an obstruction status, wherein the range is adistance from the machine to an operator, wherein the operator isdisposed remotely from the machine.

In another aspect of the disclosure, a method of controlling a machineis disclosed. The method may comprise: activating, by a machinecontroller, autonomous remote operation of the machine based onparameters. The parameters may include a range, a set-point and anobstruction status, wherein the range is a distance from the machine toan operator. The operator may be disposed remote from the machine.

In yet another aspect of the disclosure, a control system for anautonomous broom machine (or the like) on a track is disclosed. Thebroom machine may include a propulsion system configured to translatethe broom machine on the tracks, one or more brooms configured to sweepthe track, and one or more brakes configured to retard translation onthe track, The system may comprise a machine controller configured to:receive a direction of translation from a mobile operator interface viaa first communication channel; receive an obstruction status for thebroom machine in the direction of translation, and an obstructiondistance; automatically activate, by the machine controller, autonomousremote operation of the broom machine if: (a) a range is greater than aset-point, wherein the range is a distance from the broom machine to anoperator; and (b) the obstruction status indicates that there is nodetected obstruction to translation of the broom machine in thedirection of translation or the obstruction distance is greater than theset-point; and autonomously operate the broom machine, wherein operatethe broom machine may include enablement of brooms, engagement ofpropulsion system and release of brakes.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view of an exemplary machine that includes a control systemaccording to the present disclosure;

FIG. 2 is a schematic illustration of an exemplary embodiment of thecontrol system according to the present disclosure;

FIG. 3 is a flow diagram of one exemplary method of determining therange, set-point and restart distance for the machine, according to thepresent disclosure;

FIG. 4 is a flow diagram of one exemplary method of controlling themachine using the control system, according to the present disclosure;

FIGS. 5A and 5B are a flow diagram of one exemplary method ofcontrolling the machine while the machine is operating in autonomousremote mode using the control system, according to the presentdisclosure; and

FIG. 6 is a diagram illustrating an exemplary range, shut-off distance,restart distance and set-point.

DETAILED DESCRIPTION

Reference will now be made in detail to specific embodiments orfeatures, examples of which are illustrated in the accompanyingdrawings. Generally, corresponding reference numbers will be usedthroughout the drawings to refer to the same or corresponding parts,unless otherwise specified.

FIG. 1 illustrates an exemplary embodiment of a machine 100 that may becontrolled with the control system 101 of the present disclosure.Machine 100 may be a mobile machine that performs some type of operationassociated with railway maintenance. For example, machine 100 may be amaintenance of way machine 102 such as a broom machine or a double broommachine. Machine 100 may be configured to engage a railway track 104.

Machine 100 may include an operator cab 106. Operator cab 106 may besupported by a frame 108 that provides a mounting for a power source 110(e.g., an engine). Frame 108 may include a plurality of wheels 112coupled to a plurality of axles 114. Two wheels 112 may be rigidlyconnected at the opposing ends of each axle 114 such that wheels 112 andaxles 114 rotate together. Wheels 112 may engage the railway track 104and be driven to rotate by power source 110.

One or more control devices (not shown) may be disposed on in theoperator cab 106 (or other appropriate place on the machine 100) that anoperator may use to manually maneuver and control the machine 100. Thecontrol devices may include one or more joysticks, pedals, levers,buttons, steering wheels, or any other suitable control device orinterface (or any of various combinations thereof) configured to beactuated or otherwise engaged to effectuate control of the machine 100.A display interface 116 may also be disposed in the operator cab 106.The display interface 116 may include a display I/O member 118configured to display visual data pertaining to the components and/orthe current operation of the machine 100 to an operator disposed withinthe operator cab 106.

The machine 100 further includes one or more implements 120, such as abroom 122 or the like. A broom 122 may be disposed on a front end of theframe 108, and may also be disposed on a back end of the frame 108. Thebroom 122 may be utilized for snow and sand plowing, clearing the tracksof debris, etc. A hydraulic actuator (not shown) may enable the broom122 to be moved in a variety of different positions relative to themachine 100 and railway track 104.

The machine 100 includes a drive system 124 configured to transferenergy from the power source 110 to a propulsion system 126 that isoperatively coupled to the machine via axles 114, drive shafts,transmission, wheels 112 and other components. The power source 110 isconfigured to supply power to the machine 100 and provide operatingpower to the drive system 124. The power source 110 may be in operablecommunication with a machine controller 128 and with control devices inthe operator cab 106 and may further be configured to receive controlsignals from the machine controller 128 and the control devices.

The drive system 124 may be operably coupled to the power source 110 toselectively propel the machine 100 via control signals from the machinecontroller 128 and from the operator controls. The drive system 124 maybe operably connected to the propulsion system 126, as is known in theart. A brake system 130 may be operably coupled to the wheels 112, axles114 and/or drive shafts and configured for retarding or stoppingtranslation of the machine 100 via one or more brakes 132.

An exemplary embodiment of the control system 101 is shown in FIG. 2 .The control system 101 may comprise a mobile operator interface 134, amobile communication member 136, a machine communication member 138, adisplay interface 116, a radar 140 and a machine controller 128. Thecontrol system 101 may further comprise one or more cameras 142.

The mobile operator interface 134 is in communication with the displayinterface 116 (including the display controller 144) via a communicationchannel (e.g., a wireless communication channel) 146. The mobileoperator interface 134 is in communication with the machine controller128 via another communication channel 146, 146 a (e.g., a wirelesscommunication channel). The mobile operator interface 134 is configuredto receive user input. The user input may include, but is not limitedto, the shut-off distance 148 (see FIG. 6 ), the restart distance 156,the direction of translation for the machine, an operational mode and/orremote sub-mode.

As illustrated in FIG. 6 , the shut-off distance 148 is a distance valuemeasured in a first direction from a machine location 150 outward to anendpoint 152. The shut-off distance 148 is the minimum distance allowedbetween the operator 154 and the machine 100. For example, the shut-offdistance may be 500 ft (about 152 meters). The restart distance 156 is adistance value measured from the endpoint 152 of the shut-off distance148 outward (in the first direction) to a restart boundary point 158.The restart distance 156 is a minimum distance allowed between theoperator 154 and the endpoint 152 of the shut-off distance 148.

Turning back to FIG. 2 , the mobile operator interface 134 may beconfigured to provide (e.g., make available or transmit) the shut-offdistance 148 and restart distance 156 to the display controller 144 viaa communication channel 146. Alternatively, the display interface 116may be configured to provide the shut-off distance 148 and restartdistance 156 to the display controller 144. In other embodiments, mobileoperator interface 134 may be configured to provide (e.g., makeavailable or transmit) the shut-off distance 148 and restart distance156 to the machine controller 128 via another communication channel 146,146 a. In some embodiments, the range 160 (see FIG. 6 ), and theset-point 162, shut-off distance 148 and the restart distance 156 may becalculated or determined by the mobile operator interface 134 (in thesame or similar manner as how the range 160 and set-point 162 aredescribed herein as determined the display processor 164 (FIG. 2 ) ofthe display controller 144) and provided to the machine controller 128.

In some embodiments, the direction of translation may be forward orreverse (for example, when the machine 100, such as a broom machine,translates on railway tracks 104). In other embodiments, otherdirections may be utilized, depending on the machine 100 and theapplication. The mobile operator interface 134 may be configured toprovide (e.g., make available or transmit) the direction of translationto the machine controller 128 via the communication channel 146, 146 a.

The operational modes for the machine 100 may include local mode orremote control mode. Local mode is utilized when an operator disposed onthe machine 100 maneuvers and controls the machine 100 using controlssuch as joysticks, pedals, levers, buttons, steering wheels or the like.The mobile operator interface 134 may be configured to provide (e.g.,make available or transmit) the operational mode to the machinecontroller 128 via the communication channel 146, 146 a. Once themachine 100 is placed in remote control mode by the machine controller128, the mobile operator interface 134 may receive user input thatselects a sub-mode of the remote control mode (a “remote sub-mode”). Theremote sub-mode may include but is not limited to an autonomous remotemode. The mobile operator interface 134 may be configured to provide(e.g., make available or transmit) the sub-mode to the machinecontroller 128 via the communication channel 146, 146 a. When themachine 100 is placed in autonomous remote mode by the machinecontroller 128, the machine controller 128 may control and operate themachine 100 automatically without assistance from an operator 154.

The mobile operator interface 134 may also be configured to display userinput received by mobile operator interface 134, and any user input orother information received from the display interface 116 or machinecontroller 128 or to display other information associated with themachine 100.

The mobile communication member 136 may be worn or held by an operator154 (FIG. 6 ), for example an operator 154 that may typically bedisposed remote from the machine 100. The mobile communication member136 is configured to determine the current operator location 166. In oneembodiment the mobile communication member 136 may include a GlobalPositioning System (GPS) member 168 a and a radio transmitter 170 a. TheGPS member 168 a is configured to determine GPS coordinates (which maybe expressed as latitude and longitude) of the current operator location166. In other words, the current operator location 166 may be the GPScoordinates of the location of the mobile communication member 136carried or worn by the operator 154. The radio transmitter 170 a isconfigured to provide (make available) or transmit the current operatorlocation 166 to the display controller 144 via communication channel146, 146 b. Alternatively, the radio transmitter 170 a may be configuredto provide (make available) or transmit to the machine controller 128(via a communication channel 146).

The machine communication member 138 is disposed on the machine 100 andis configured to determine the current machine location 150. In oneembodiment the machine communication member 138 may include a GPS member168 b and a radio transmitter 170 b. The GPS member 168 b is configuredto determine GPS coordinates (which may be expressed as latitude andlongitude) of the current machine location 150. The radio transmitter170 b is configured to provide (make available) or transmit the currentmachine location 150 to the display controller 144 via communicationchannel 146, 146 c. Alternatively, the radio transmitter 170 b may beconfigured to provide (make available) or transmit the current machinelocation 150 to the machine controller 128 (via a communication channel146).

The display interface 116 is disposed on the machine 100 and includes adisplay input/output (I/O) member 118 and a display controller 144.

The display I/O member 118 is configured to receive user input. The userinput may include, but is not limited to, the shut-off distance 148, therestart distance 156, the direction of translation for the machine, anoperational mode and/or remote sub-mode. The display I/O member 118 isconfigured to display user input. The display I/O member 118 may alsodisplay information received from the mobile operator interface 134and/or machine controller 128. The display I/O member 118 may alsodisplay other information associated with the machine 100 or componentsof the machine 100. The display controller 144 is in operablecommunication with the display I/O member 118, the machine controller128, the mobile operator interface 134, the mobile communication member136 and the machine communication member 138.

The display controller 144 (FIG. 2 ) is configured to receive themachine location 150 (FIG. 6 ) from the machine communication member138, and operator location 166 from the mobile communication member 136.The machine location 150 may include the GPS coordinates (e.g., latitudeand longitude) of the (current) location of the machine 100. Theoperator location 166 may include the GPS coordinates (e.g., latitudeand longitude) of the (current) location of the operator 154.

The display controller 144 (FIG. 2 ) may also be configured to receivethe shut-off distance 148 (FIG. 6 ) and the restart distance 156. In oneembodiment, the shut-off distance 148 and the restart distance 156 maybe received from the mobile operator interface 134. In anotherembodiment, the shut-off distance 148 and restart distance 156 may bereceived by the display controller 144 (FIG. 2 ) from the display I/Omember 118 disposed on the machine 100 (e.g., if the “remote” operatorin temporarily disposed in the operator cab 106 (FIG. 1 )). If noshut-off distance 148 (FIG. 6 ) and restart distance 156 is received,the last active value for the shut-off distance 148 and last activevalue for the restart distance 156 may continue to be utilized or mayberetrieved from the display memory component 172 (FIG. 2 ).

The display controller 144 may be configured to determine the range 160(FIG. 6 ). The range 160 is the distance between the operator location166 and the machine location 150. The range 160 may be determined basedon the operator location 166 GPS coordinates (e.g., latitude andlongitude) and machine location 150 GPS coordinates (e.g., latitude andlongitude). The range 160 may be calculated by the display controller144 (FIG. 2 ) using the Haversine formula, as is known in the art.

The display controller 144 may be further configured to determine theset-point 162 (FIG. 6 ). The set-point 162 is the sum of the shut-offdistance 148 and the restart distance 156. The display controller 144(FIG. 2 ) may also be configured to retrieve from the display memorycomponent 172 formulas and other data necessary for the calculationsdiscussed herein.

The display controller 144 is further configured to provide to themachine controller 128, via a communication channel 146, the range 160(FIG. 6 ), the set-point 162 and the restart distance 156.

The display controller 144 (FIG. 2 ) may include a display processor 164and a display memory component 172. The display controller 144 is inoperable communication with the machine controller 128, the mobilecommunication member 136, the machine communication member 138 and themobile operator interface 134.

The display processor 164 may be a microcontroller, a digital signalprocessor (DSP), an electronic control module (ECM), an electroniccontrol unit (ECU), a field-programmable gate array (FPGA), amicroprocessor or any other suitable processor as known in the art. Thedisplay processor 164 may execute instructions and generate controlsignals for determining the range 160 and the set-point 162. Suchinstructions may be read into or incorporated into a computer readablemedium, such as the display memory component 172 or provided external tothe display processor 164. In alternative embodiments, hard wiredcircuitry may be used in place of, or in combination with, softwareinstructions to implement a control method.

The term “computer readable medium” as used herein in this disclosurerefers to any non-transitory medium or combination of media thatparticipates in providing instructions to a processor for execution.Such a medium may comprise all computer readable media except for atransitory, propagating signal. Common forms of computer-readable mediainclude, for example, a floppy disk, a flexible disk, hard disk,magnetic tape, or any other magnetic medium, a CD-ROM, any other opticalmedium, or any other computer readable medium.

The radar 140 may be mounted on the machine 100 and is configured todetect an obstruction in the direction of translation of the machine 100and to provide/transmit radar information to the display controller 144or alternatively to the machine controller 128. The radar informationmay include obstruction status and a distance to the obstruction (the“obstruction distance”). The obstruction status indicates whether anobstruction is detected by the radar 140 in the translation direction.

In some embodiments, the control system 101 may also include one or morecameras 142 (FIG. 2 ) disposed on the machine 100 that are configured todetect an obstruction proximal to the machine 100. In such embodiments,the one or more cameras 142 may provide obstruction data indicative ofthe obstruction status (whether an obstruction has been detected or not)to the machine controller 128.

The machine controller 128 is configured to control the operation of themachine 100. The machine controller 128 may include a machine processor174 and a machine memory component 176. The machine controller 128 is inoperable communication with the display interface 116, the displaycontroller 144, the mobile operator interface 134 and the radar 140. Themachine controller 128 is in operable communication with operationalsystems and components of the machine 100, including but not limited tothe power source 110 (e.g., the engine), propulsion system 126, drivesystem 124, brake system 130 and associated brakes 132, alarms andimplements (e.g., brooms 122). The machine controller 128 may also be inoperable communication with the mobile communication member 136 and themachine communication member 138. The machine controller 128 may also bein communication with the camera 142.

The machine controller 128 may be configured to receive an operationalmode and a request to enable such operational mode for the machine 100,and subsequent updates to the aforementioned. Each machine 100 has aplurality of operational modes. The operational modes may include: localmode and remote control mode. In an embodiment, the operational mode maybe received from the mobile operator interface 134. In anotherembodiment, the operational mode may be received from the displayinterface 116 (e.g., from the display I/O member 118 or displaycontroller 144). The machine controller 128 may be further configured toreceive a direction of translation, a remote sub-mode and a request toactivate such sub-mode for the machine 100, and subsequent updates tothe aforementioned. In an embodiment, the direction of translation maybe forward or reverse. The sub-mode may include an autonomous remotemode. The direction of translation, sub-mode and request to place themachine 100 in the remote sub-mode may be received by the machinecontroller 128 from the mobile operator interface 134, or, in anotherembodiment, from the display interface 116. The machine controller 128may be further configured to receive the range 160, the set-point 162,the shut-off distance 148 and the restart distance 156. In anembodiment, the range 160, the set-point 162, shut-off distance 148 andthe restart distance 156 may be received from the display processor 164of the display interface 116. In other embodiments, the range 160, theset-point 162, shut-off distance 148 and the restart distance 156 may bereceived from the mobile operator interface 134.

The machine controller 128 may be further configured to receive radarinformation from the radar 140. The radar information may includeobstruction status and an obstruction distance. The obstruction statusindicates whether an obstruction is detected by the radar 140 in thetranslation direction.

The machine controller 128 may be further configured to receive a linkstatus for the communication channel 146 c between the machinecommunication member 138 and the display controller 144, another linkstatus for the communication channel 146 b between the mobilecommunication member 136 and the display controller 144, and yet anotherlink status for the communication channel 146 a between the mobileoperator interface 134 and the machine controller 128. In someembodiments the machine controller 128 may be further configured toreceive a link status for the communication channel 146 between thedisplay controller 144 and the machine controller 128. Link statusindicates if a communication error is detected for the respectiveassociated communication channel 146. If a link status indicates that acommunication error is detected for a given communication channel 146,such communication channel 146 is considered to be in an “error” state(until a communication error is no longer detected). If a link statusindicates that a communication error is not detected for a givencommunication channel 146, such communication channel 146 is consideredto be in a “clear” state.

The machine controller 128 may be further configured to receive(operational) fault information from the machine 100, and subsequentupdates to the aforementioned. The fault information indicates if anoperational fault is currently detected for an operational system of themachine 100. Such an operational fault may include but is not limited toinformation indicating “hydraulic system low fluid” or overheating of acomponent or system on machine 100, “pneumatic system low pressure”, orfault or error conditions transmitted from the power source 110.

While the machine 100 is operating (e.g., in autonomous remote mode),the machine controller 128 may receive updates or current values for therange 160, the set-point 162, shut-off distance 148 and the restartdistance 156 from the display processor 164 of the display interface 116(or alternatively from the mobile operator interface 134). The machinecontroller 128 may receive updates or current radar information from theradar 140, and may receive updated or current link status for thecommunication channel 146 c between the machine communication member 138and the display controller 144, the link status for the communicationchannel 146 b between the mobile communication member 136 and thedisplay controller 144, and the link status for the communicationchannel 146 a between the mobile operator interface 134 and the machinecontroller 128. In some embodiments, the machine controller 128 may alsoreceive a link status for the communication channel 146 between thedisplay controller 144 and the machine controller 128 The machinecontroller 128 may also receive updates or current fault informationfrom the machine 100.

The machine processor 174 may be a microcontroller, a digital signalprocessor (DSP), an electronic control module (ECM), an electroniccontrol unit (ECU), a field-programmable gate array (FPGA), amicroprocessor or any other suitable processor as known in the art. Themachine processor 174 may execute instructions and generate controlsignals for determining whether the range 160 is greater than theset-point 162, for determining whether the range 160 is less than theshut-off distance 148, for determining whether the obstruction dataindicates that an obstruction is detected in the direction oftranslation, for determining whether the obstruction distance associatedwith the detected obstruction is greater than the set-point 162 ordetermining whether the obstruction distance is less than the shut-offdistance.

The machine processor 174 may execute instructions and generate controlsignals for determining whether one or more of the following is in anerror state: (a) the link status for the communication channel 146 cbetween the machine communication member 138 and the display controller144, or (b) a link status for the communication channel 146 b betweenthe mobile communication member 136 and the display controller 144, or(c) a link status for the communication channel 146 a between the mobileoperator interface 134 and the machine controller 128.

The machine processor 174 may execute instructions and generate controlsignals for determining if an operational fault is currently detectedfor the machine 100.

The machine processor 174 may execute instructions and generate controlsignals for enabling the remote control mode (operational mode) of themachine 100 based on user input by the operator on the mobile operatorinterface 134 (or on the display I/O member 118 of the display interface116).

The machine processor 174 may execute instructions and generate controlsignals for automatically activating the autonomous remote mode ofremote operation of the machine 100 and autonomously operating themachine 100; this initial activation of the machine 100 (from an offstate) may be based on one or more parameters. Such parameters mayinclude, but are not limited to, the range 160, the set-point 162, theshut-off distance 148, the restart distance 156, radar information, oneor more link status(es), fault information for the machine 100, and thelike. When these parameters are utilized to evaluate initial activationthey may also be referred to as initialization parameters. Theautonomous operating of the machine 100 by the machine controller 128may include, but is not limited to, activating alarms, setting orchanging power source 110 (engine) speed (e.g., revolutions per minute(rpm)), setting or changing (machine) translational speed, actuatingmachine 100 translation in the translation direction, enablingimplement(s) 120 (e.g., brooms 122), engaging the propulsion system 126,actuating the drive system 124, releasing the brakes 132 of the brakesystem 130, and the like.

While the machine 100 is in remote or remote autonomous operation, themachine processor 174 may execute instructions and generate controlsignals for automatically stopping operation of the machine 100 based onparameters; such parameters may include, but are not limited to, therange 160, the set-point 162, the shut-off distance 148, the restartdistance 156, radar information, one or more link status(es), faultinformation for the machine 100, and the like. When these parameters areutilized to evaluate stopping operation of the machine 100 they may alsobe referred to as stop-triggering parameters. Stopping operation of themachine 100 may include, but is not limited to, one or more of thefollowing: stopping translational movement, changing power source 110(e.g., engine) speed (e.g., revolutions per minute (rpm)) of the machine100 to a low idle, activating an alarm, disabling one or more implements120 (e.g., brooms 122), disengaging the propulsion system 126,deactivating the drive system 124, and applying one or more brakes 132.

When operation of the machine 100 has been stopped but the machine 100is still in autonomous remote mode, operation of the machine 100 may berestarted based on one or more received parameters. The machineprocessor 174 may execute instructions and generate control signals forautomatically restarting, by the machine processor 174, autonomousoperation of the machine 100 based on parameters; the parametersevaluated for restarting may be referred to as restart parameters andmay include but are not limited to, the range 160, the set-point 162,the shut-off distance 148, the restart distance 156, radar information,one or more link status(es), fault information, and the like. Similar toabove, restarted autonomous operation of the machine 100 by the machinecontroller 128 may include, but is not limited to, activating alarms,setting or changing power source 110 (engine) speed (rpm), setting orchanging (machine 100) translational speed, actuating machine 100translation in the translation direction, enabling implement(s) 120(e.g., brooms 122), engaging the propulsion system 126, actuating thedrive system 124, releasing the brakes 132 of the brake system 130, andthe like.

Such instructions discussed above may be read into or incorporated intoa computer readable medium, such as the machine memory component 176 orprovided external to the machine processor 174. In alternativeembodiments, hard wired circuitry may be used in place of, or incombination with, software instructions to implement a control method.The machine controller 128 may also be configured to retrieve from themachine memory component 176 formulas and other data necessary for thedeterminations and calculations discussed herein.

The controllers 144, 128 are not each limited to one processor andmemory component. The controllers 144, 128 may include severalprocessors and memory components. In an embodiment, the processors maybe parallel processors that have access to a shared memory component(s).In another embodiment, the processors may be part of a distributedcomputing system in which a processor (and its associated memorycomponent) may be located remotely from one or more other processor(s)(and associated memory components) or FPGA(s) that are part of thedistributed computing system.

Also disclosed is a method of activating, by a machine controller 128,autonomous remote operation of the machine 100 based on parameters, theparameters including a range 160, a set-point 162 and an obstructionstatus. The range 160 may be a distance from the machine 100 to anoperator 154, wherein the operator 154 is disposed remote from themachine 100.

INDUSTRIAL APPLICABILITY

In FIG. 3 an exemplary flowchart is illustrated showing sample blockswhich may be followed in a method 300 of determining the range 160,set-point 162 and restart distance 156 for the machine 100.

In block 310, the method 300 may include receiving by the displaycontroller 144, machine location 150 from the machine communicationmember 138, and operator location 166 from the mobile communicationmember 136. The machine location 150 may include the GPS coordinates(e.g., latitude and longitude) of the (current) location of the machine100. The operator location information may include the GPS coordinates(e.g., latitude and longitude) of the (current) location of the operator154.

In block 320, the method 300 may include receiving, by the displaycontroller 144, the shut-off distance 148 and the restart distance 156.In one embodiment, the shut-off distance 148 and the restart distance156 may be received from the mobile operator interface 134. In anotherembodiment, the shut-off distance 148 and restart distance 156 may bereceived by the display controller 144 from the display I/O member 118.If no shut-off distance 148 and restart distance 156 is received, thelast active value for the shut-off distance 148 and last active valuefor the restart distance 156 may continue to be utilized.

In block 330, the method 300 includes determining the range 160 by thedisplay controller 144.

In block 340, the method 300 includes determining the set-point 162 bythe display controller 144. The set-point 162 is the sum of the shut-offdistance 148 and the restart distance 156.

In block 350, the method 300 includes providing, by the displaycontroller 144, to the machine controller 128, the range 160, theset-point 162 and the restart distance 156.

In FIG. 4 an exemplary flowchart is illustrated showing sample blockswhich may be followed in a method 400 of controlling the machine 100using the control system 101.

In block 405, the method 400 may include receiving, by the machinecontroller 128, an operational mode and a request to enable suchoperational mode for the machine 100. As discussed earlier, each machine100 has a plurality of operational modes. The operational modes mayinclude: local mode and remote control mode.

In block 410, the method 400 may include enabling, by the machinecontroller 128, the remote control mode (operational mode) of themachine 100 based on user input by the operator 154 on the mobileoperator interface 134 (or on the display I/O member 118).

In block 415, the method 400 may include receiving, by the machinecontroller 128, a direction of translation, a remote sub-mode and arequest to activate such sub-mode for the machine 100. As discussedearlier in one embodiment, the direction of translation may be forwardor reverse, and the sub-mode may include an autonomous remote mode.

In block 420, the method 400 may include receiving, by the machinecontroller 128, the range 160, the set-point 162, shut-off distance 148and the restart distance 156. In an embodiment, the range 160, theset-point 162, shut-off distance 148 and the restart distance 156 may bereceived from the display controller 144. In other alternativeembodiments, the range 160, the set-point 162, shut-off distance 148 andthe restart distance 156 may be received by the machine controller 128from the mobile operator interface 134, which may determine the range160 in the same or similar manner as how the range 160 is determined inblock 330 by the display controller 144, and which may determine theset-point 162 in the same or similar manner as how the set-point 162 isdetermined in block 340 by the display controller 144.

In block 425, the method 400 may include determining, by the machinecontroller 128, whether the range 160 is greater than the set-point 162.

In block 430, the method 400 may include receiving, by the machinecontroller 128, radar information from the radar 140. The radarinformation may include obstruction status and an obstruction distance.

In block 435, the method 400 may include determining, by the machinecontroller 128, whether the obstruction data indicates that anobstruction is detected in the direction of translation. If yes, theprocess proceeds to block 440. If no, the process proceeds to block 445.

In block 440, the method 400 may include determining, by the machinecontroller 128, whether the obstruction distance associated with thedetected obstruction is greater than the set-point 162. If theobstruction distance is greater than the set-point 162, the method 400proceeds to block 445, otherwise the method 400 may return to block 420.

In block 445, the method 400 may include receiving, by the machinecontroller 128, a link status for the communication channel 146 cbetween the machine communication member 138 and the display controller144, another link status for the communication channel 146 b between themobile communication member 136 and the display controller 144, and yetanother link status for the communication channel 146 a between themobile operator interface 134 and the machine controller 128.

In block 450, the method 400 may include determining, by the machinecontroller 128, whether one or more of the following is in an errorstate: (a) the link status for the communication channel 146 c betweenthe machine communication member 138 and the display controller 144, or(b) a link status for the communication channel 146 b between the mobilecommunication member 136 and the display controller 144, or (c) a linkstatus for the communication channel 146 a between the mobile operatorinterface 134 and the machine controller 128. If any one or more of(a-c) is/are in an error state, the method 400 may return to block 420.

In block 455, the method 400 may include receiving, by the machinecontroller 128, fault information from the machine 100. The faultinformation indicates if an operational fault is currently detected forthe machine 100.

In block 460, the method 400 may include determining, by the machinecontroller 128, if (the fault information indicates that) an operationalfault is currently detected for the machine 100. If so the method 400may return to block 420.

In block 465, the method 400 may include automatically activating, bythe machine controller 128, autonomous remote mode of remote operationof the machine 100 based on the results of the determining of the one ormore parameters, which may include but are not limited to the range 160,the set-point 162, the shut-off distance 148, the restart distance 156,radar information, one or more link status(es), fault information, andthe like.

In block 470, the method 400 may include operating by the machinecontroller 128, the machine 100 autonomously. The autonomous operatingmay include, but is not limited to, activating alarms, setting orchanging power source 110 (engine) speed (rpm), setting or changing(machine) translational speed, actuating machine 100 translation in thetranslation direction, enabling implement(s) 120 (e.g., brooms 122),engaging the propulsion system 126, actuating the drive system 124,releasing the brakes 132 of the brake system 130, and the like.

In FIG. 5 is illustrated showing sample blocks which may be followed ina method 500 of controlling the machine 100 while the machine isoperating in autonomous remote mode using the control system 101.

In block 505, the method 500 may include receiving, by the machinecontroller 128, current values for the range 160, the set-point 162,shut-off distance 148 and the restart distance 156. In an embodiment,the current values for the range 160, the set-point 162, shut-offdistance 148 and the restart distance 156 may be received from thedisplay controller 144 of the display interface 116. In otherembodiments, the current values for the range 160, the set-point 162,shut-off distance 148 and the restart distance 156 may be received bythe machine controller 128 from the mobile operator interface 134, whichmay determine the range 160 in the same or similar manner as how therange 160 is determined in block 330 by the display controller 144, andwhich may determine the set-point 162 in the same or similar manner ashow the set-point 162 is determined in block 340 by the displaycontroller 144.

In block 510, the method 500 may include receiving, by the machinecontroller 128, (current) radar information from the radar 140. Theradar information may include obstruction status and the associatedobstruction distance.

In block 515, the method 500 may include receiving by the machinecontroller 128, the (current) link status for the communication channel146 c between the machine communication member 138 and the displaycontroller 144, the (current) link status for the communication channel146 b between the mobile communication member 136 and the displaycontroller 144, and the (current) link status for the communicationchannel 146 a between the mobile operator interface 134 and the machinecontroller 128.

In block 520 the method 500 may include receiving, by the machinecontroller 128, (current) fault information from the machine 100.

In block 525, the method 500 may include determining, by the machinecontroller 128, whether the range 160 is less than the shut-off distance148. If yes, the method 500 may proceed to block 550.

In block 530, the method 500 may include determining, by the machinecontroller 128, whether the obstruction data indicates that anobstruction is detected in the direction of translation. If yes, themethod 500 may proceed to block 535. If no, the method 500 may proceedto block 540.

In block 535, the method 500 may include determining by the machinecontroller 128, whether the obstruction distance associated with thedetected obstruction is less than the shut-off distance 148. If theobstruction distance is less than the shut-off distance 148, the method500 may proceed to block 550, otherwise the method 500 may proceed toblock 540.

In block 540, the method 500 may include determining by the machinecontroller 128, whether one or more of the following is in an errorstate: (a) the link status for the communication channel 146 c betweenthe machine communication member 138 and the display controller 128, or(b) a link status for the communication channel 146 b between the mobilecommunication member 136 and the display controller 144, or (c) a linkstatus for the communication channel 146 a between the mobile operatorinterface 134 and the machine controller 128. If any one or more of(a-c) is/are in an error state, the method 500 may proceed to block 550.

In block 545, the method 500 may include determining, by the machinecontroller 128, if an operational fault is currently detected for themachine 100. If yes, the method 500 may proceed to block 550. If no, themethod 500 may return to block 505.

Block 550, the method 500 may include automatically stopping, by themachine controller 128, operation of the machine 100. Stopping operationof the machine 100 may include, but is not limited to, one or more ofthe following: stopping translational movement, changing engine or powersource 110 speed (rpm) to a low idle, activating an alarm, disabling oneor more implements 120 (e.g., brooms 122), disengaging the propulsionsystem 126, deactivating the drive system 124, applying one or morebrakes 132 to stop the wheels 112. When operation is stopped, themachine 100 may still remain in the remote autonomous mode and operationof the machine 100 may be restarted based on one or more receivedparameters as further discussed in blocks 555-595 below.

In block 555, the method 500 may include receiving, by the machinecontroller 128, current values for the range 160, the set-point 162,shut-off distance 148 and the restart distance 156. In an embodiment,the current values for the range 160, the set-point 162, shut-offdistance 148 and the restart distance 156 may be received from thedisplay controller 144. Alternatively, the current values for the range160, the set-point 162, shut-off distance 148 and the restart distance156 may be received by the machine controller 128 from the mobileoperator interface 134.

In block 560, the method 500 may include receiving, by the machinecontroller 128, (current) radar information from the radar 140. Theradar information may include obstruction status and the associatedobstruction distance. The obstruction status indicates whether anobstruction is detected by the radar 140 in the translation direction ornot.

In block 565, the method 500 may include receiving by the machinecontroller 128, the (current) link status for the communication channel146 c between the machine communication member 138 and the displaycontroller 144, the (current) link status for the communication channel146 b between the mobile communication member 136 and the displaycontroller 144, and the (current) link status for the communicationchannel 146 a between the mobile operator interface 134 and the machinecontroller 128.

In block 570 the method 500 may include receiving, by the machinecontroller 128, (current) fault information from the machine 100.

In block 575, the method 500 may include determining, by the machinecontroller 128, whether the range 160 is greater than the set-point 162.If no, the method 500 may proceed to block 555. If yes, the method 500may proceed to block 580.

In block 580, the method 500 may include determining by the machinecontroller 128 whether the obstruction status indicates that anobstruction is detected in the direction of translation. If yes, themethod 500 proceeds to block 582. If no, the method 500 proceeds toblock 585.

In block 585, the method 500 may include determining by the machinecontroller 128, whether one or more of the following is in an errorstate: (a) the link status for the communication channel 146 c betweenthe machine communication member 138 and the display controller 144, or(b) a link status for the communication channel 146 b between the mobilecommunication member 136 and the display controller 144, or (c) a linkstatus for the communication channel 146 a between the mobile operatorinterface 134 and the machine controller 128. If any one or more of(a-c) is/are in an error state, the method 500 may return to block 555.

In block 590, the method 500 may include determining, by the machinecontroller 128, if (the fault information indicates that) an operationalfault is currently detected for the machine 100. If yes the method 500may return to block 555. If no, the method 500 may proceed to block 595.

In block 595, the method 500 may include automatically restarting, bythe machine controller 128, autonomous operation of the machine 100based on the parameters; the parameters, may include but are not limitedto the range 160, the set-point 162, the shut-off distance 148, therestart distance 156, radar information, one or more link status(es),fault information, and the like. The operating may include, but is notlimited to, activating alarms, setting or changing power source 110(engine) speed (rpm), setting or changing (machine) translational speed,actuating machine 100 translation in the translation direction, enablingimplement(s) 120 (e.g., brooms 122), engaging the propulsion system 126,actuating the drive system 124, releasing the brakes 132 of the brakesystem 130, translating the machine 100 in the translational directionlast input by the operator 154.

In general, the foregoing disclosure finds utility in variousapplications relating to control of autonomous machines. Morespecifically, the disclosed control system 101 and method may be used toautonomously, based on parameters, operate machines, autonomously stopoperation of such machines and to autonomously restart operation.

From the foregoing, it will be appreciated that while only certainembodiments have been set forth for the purposes of illustration,alternatives and modifications will be apparent from the abovedescription to those skilled in the art. These and other alternativesare considered equivalents and within the spirit and scope of thisdisclosure and the appended claims.

What is claimed is:
 1. A control system for a machine, the controlsystem comprising: a machine controller configured to: activateautonomous remote operation of the machine based on parameters, theparameters including a range, a set-point and an obstruction status,wherein the range is a distance from the machine to an operator, whereinthe operator is disposed remotely from the machine.
 2. The controlsystem of claim 1, wherein the parameters further include a direction oftranslation for the machine, wherein the operation of the machine isactivated if the range is greater than the set-point and the obstructionstatus indicates that there is no detected obstruction to translation ofthe machine in the direction of translation.
 3. The control system ofclaim 1, wherein the parameters further include a machine location andan operator location.
 4. The control system of claim 1 furthercomprising: a machine communication member disposed on the machine andconfigured to provide GPS coordinates of the machine via a firstcommunication channel, the first communication channel having a firstlink status, wherein the parameters further include the first linkstatus.
 5. The control system of claim 1 further comprising: a mobilecommunication member disposed on or adjacent to the operator, the mobilecommunication member configured to provide GPS coordinates of theoperator via a first communication channel, the first communicationchannel having a first link status, wherein the parameters furtherinclude the first link status.
 6. The control system of claim 1 furthercomprising: a mobile operator interface configured to receive a userinput, the mobile operator interface in communication with the machinecontroller via a first communication channel, the mobile operatorinterface configured to transmit the user input to the machinecontroller via the first communication channel, the first communicationchannel having a first link status, wherein the parameters furtherinclude the first link status.
 7. The control system of claim 6, inwhich the machine controller is further configured to receive adirection of translation for the machine from the mobile operatorinterface.
 8. A method of controlling a machine, the method comprising:activating, by a machine controller, autonomous remote operation of themachine based on parameters, the parameters including a range, aset-point and an obstruction status, wherein the range is a distancefrom the machine to an operator, wherein the operator is disposed remotefrom the machine.
 9. The method according to claim 8, wherein theparameters further include a machine location and an operator location.10. The method according to claim 8 further comprising: receiving GPScoordinates of the machine via a first communication channel, the firstcommunication channel having a first link status, wherein the parametersfurther include the first link status.
 11. The method according to claim8 further comprising: receiving, from a mobile communication memberdisposed on or adjacent to the operator, GPS coordinates of the operatorvia a first communication channel, the first communication channelhaving a first link status, wherein the parameters further include thefirst link status.
 12. The method according to claim 11 furthercomprising receiving an user input from a mobile operation interface viaa first communication channel, the first communication channel having afirst link status, wherein the parameters further include the first linkstatus.
 13. The method according to claim 12 further comprisingreceiving a direction of translation for the machine from the mobileoperator interface.
 14. The method according to claim 11, wherein theparameters further include a direction of translation for the machine,wherein the operation of the machine is activated if the range isgreater than the set-point and the obstruction status indicates thatthere is no detected obstruction to translation of the machine in thedirection of translation.
 15. A control system for an autonomous broommachine on a track, the broom machine including a propulsion systemconfigured to translate the broom machine on the tracks, one or morebrooms configured to sweep the track, and one or more brakes configuredto retard translation on the track, the control system comprising: amachine controller configured to: receive a direction of translationfrom a mobile operator interface via a first communication channel;receive an obstruction status for the broom machine in the direction oftranslation, and an obstruction distance; automatically activate, by themachine controller, autonomous remote operation of the broom machine if:(a) a range is greater than a set-point, wherein the range is a distancefrom the broom machine to an operator; and (b) the obstruction statusindicates that there is no detected obstruction to translation of thebroom machine in the direction of translation or the obstructiondistance is greater than the set-point; and autonomously operate thebroom machine, wherein operate the broom machine includes enablement ofbrooms, engagement of propulsion system and release of brakes.
 16. Thecontrol system of claim 15, in which the machine controller is furtherconfigured to automatically activate autonomous remote operation of thebroom machine if: (a) the range is greater than the set-point; (b) theobstruction status indicates that there is no detected obstruction totranslation of the broom machine in the direction of translation or theobstruction distance is greater than the set-point; and (c) anoperational fault is not detected for the broom machine.
 17. The controlsystem of claim 15 further comprising: a display interface disposed onthe broom machine, the display interface including a display controllerin communication with a mobile communication member via a secondcommunication channel, in communication with a machine communicationmember via a third communication channel, and in communication with themachine controller, the display controller configured to: receive GPScoordinates for the operator from the mobile communication member viathe first communication link; receive GPS coordinates for the broommachine from the machine communication member via the secondcommunication link; determine the range based on the GPS coordinates forthe operator and the GPS coordinates for the broom machine; determinethe set-point; and provide the range and set-point to the machinecontroller; and in which the machine controller is further configured toautomatically activate autonomous remote operation of the broom machineif: (a) the range is greater than the set-point, the range a distancefrom the machine to an operator; and (b) the obstruction statusindicates that there is no detected obstruction to translation of themachine in the direction of translation or the obstruction distance isgreater than the set-point; (c) an operational fault is not detected forthe machine; and (d) a link status is not in an error state for thefirst communication channel, the second communication channel, or thethird communication channel.
 18. The control system of claim 15, inwhich the machine controller is further configured to: receive anupdated range, stop translation of the broom machine and disable broomsand change a machine engine speed to idle, if the updated range is lessthan a shut-off distance.
 19. The control system of claim 18, in whichthe machine controller is further configured to: stop translation of thebroom machine and change a machine engine speed to idle, if (a) theupdated range is less than a shut-off distance; or (b) an obstruction isdetected that is disposed at an obstruction distance that is less thanthe shut-off distance.
 20. The control system of claim 19, in which themachine controller is further configured to: receive an updated rangeassociated with the operator and the stopped broom machine having amachine engine speed of idle, automatically restart translation of thebroom machine, enable brooms for sweeping operation and increase enginespeed above idle.